CN211796735U - Minimally invasive surgical instrument - Google Patents

Abstract

The utility model relates to a minimal access surgery surgical instruments, it has solved the miscellaneous of current surgical instruments structure, the flexibility ratio is low, the technical problem of operation difficulty, it includes the apparatus box, apparatus pole and execution are terminal, the apparatus pole is connected with the apparatus box, it is terminal to be connected with the apparatus pole to execute, the execution is terminal including end connection, the hinge joint head end, the hinge joint tail end, first drive silk, second drive silk, third drive silk, fourth drive silk, first elastic wire, the second elastic wire, the third elastic wire, the fourth elastic wire, ball hinge subassembly and three hinge joint, end connection and hinge joint head end fixed connection, hinge joint tail end and apparatus pole fixed connection, a plurality of hinge joints are established ties together with the cross arrangement mode through the hinge connecting axle. The utility model discloses extensively be used for medical instrument technical field.

Description

Minimally invasive surgical instrument

Technical Field

The utility model relates to a minimal access surgery robot technical field particularly, relates to a minimal access surgery surgical instrument.

Background

Referring to the chinese patent application with publication No. CN109091237A and named as an auxiliary system of minimally invasive surgical instruments, minimally invasive surgery represented by laparoscope is known as one of the important contributions of 20 th century medical science to human civilization, and minimally invasive surgical operation refers to a procedure in which a doctor uses a slender surgical tool to insert into the body through a tiny incision on the surface of the body to perform a surgical operation. Compared with the traditional open surgery, the utility model has the advantages of small surgical incision, less bleeding, small postoperative scar, quick recovery time and the like, which greatly reduces the pain of the patient; therefore, minimally invasive surgery is widely used in clinical surgery.

Referring to the chinese patent application with application publication No. CN109091238A entitled split minimally invasive surgical instrument assistance system, a minimally invasive surgical robotic system includes a surgeon console that precisely controls one or more surgical instruments on a robotic arm of a patient console to perform various surgical actions by operating the surgeon robotic arm.

Referring to the invention patent application publication No. CN105286999A and the invention application publication No. CN105286989A, surgical instruments are essential tools for surgical procedures that can perform various functions including clamping, cutting, suturing, stapling, and the like. Surgical instruments come in different configurations, including an execution tip, wrist, instrument shaft, instrument box, etc., through which the surgical instrument is inserted to perform a telesurgical operation. During surgery, the patient robotic arm sets up a sterile drape attachment to isolate the surgical instruments from the surrounding area, maintaining the patient table clean. The surgical instrument needs to be connected to the instrument lift mount on the patient's robotic arm through the instrument adapter on the sterile drape attachment and receive electrical, mechanical, and other signals from the robotic arm. Meanwhile, in order to meet the action requirements of different surgical operation tasks (clamping, suturing, knotting and the like), the surgical instruments can be replaced at any time and reconnected with instrument mounting seats connected to the mechanical arms of the patient.

However, the existing surgical instruments have the technical defects of complicated structure, low flexibility, difficult operation and the like.

Disclosure of Invention

The utility model provides a minimally invasive surgical instrument with simple structure, high flexibility and convenient operation, aiming at solving the technical problems of complicated structure, low flexibility and difficult operation of the prior surgical instrument.

The utility model provides a minimally invasive surgical instrument, which comprises an instrument box, an instrument rod and an execution terminal, wherein the instrument rod is connected with the instrument box, the execution terminal is connected with the instrument rod, the execution terminal comprises an end joint, a hinge joint head end, a hinge joint tail end, a first driving wire, a second driving wire, a third driving wire, a fourth driving wire, a first elastic wire, a second elastic wire, a third elastic wire, a fourth elastic wire, a ball hinge assembly and three hinge joints, the end joint is fixedly connected with the hinge joint head end, the hinge joint tail end is fixedly connected with the instrument rod, the first driving wire, the second driving wire, the third driving wire, the fourth driving wire, the first elastic wire, the second elastic wire, the third elastic wire and the fourth elastic wire are uniformly distributed along the circumferential direction, the first elastic wire is positioned between the first driving wire and the second driving wire, the second elastic wire is positioned between the second driving wire and the third driving wire, the third elastic wire is positioned between the third driving wire and the fourth driving wire, and the fourth elastic wire is positioned between the fourth driving wire and the first driving wire;

the first end of the hinge joint is provided with a first hinge part, a second hinge part, a first arc-shaped edge, a second arc-shaped edge, a central through hole, a first driving wire connecting hole, a second driving wire connecting hole, a third driving wire connecting hole, a fourth driving wire connecting hole, a first elastic wire connecting hole, a second elastic wire connecting hole, a third elastic wire connecting hole and a fourth elastic wire connecting hole, the first hinge part and the second hinge part are symmetrically arranged, and the first arc-shaped edge and the second arc-shaped edge are symmetrically arranged; the first elastic wire connecting hole is positioned between the first driving wire connecting hole and the second driving wire connecting hole, the second elastic wire connecting hole is positioned between the second driving wire connecting hole and the third driving wire connecting hole, the third elastic wire connecting hole is positioned between the third driving wire connecting hole and the fourth driving wire connecting hole, and the fourth elastic wire connecting hole is positioned between the fourth driving wire connecting hole and the first driving wire connecting hole;

the front end of the first driving wire is fixedly connected with the first driving wire connecting hole, the front end of the second driving wire is fixedly connected with the second driving wire connecting hole, the front end of the third driving wire is fixedly connected with the third driving wire connecting hole, and the front end of the fourth driving wire is fixedly connected with the fourth driving wire connecting hole; the front end of the first elastic wire is fixedly connected with the first elastic wire connecting hole, the front end of the second elastic wire is fixedly connected with the second elastic wire connecting hole, the front end of the third elastic wire is fixedly connected with the third elastic wire connecting hole, and the front end of the fourth elastic wire is fixedly connected with the fourth elastic wire connecting hole;

the left side of the hinge joint is provided with a first hinge part, a second hinge part, a first arc-shaped edge and a second arc-shaped edge, the right side of the hinge joint is provided with a third hinge part, a fourth hinge part, a third arc-shaped edge and a fourth arc-shaped edge, the hinge joint is provided with a central through hole and eight through holes, the eight through holes are uniformly distributed along the circumferential direction, the first hinge part and the second hinge part of the hinge joint are symmetrically arranged, the third hinge part and the fourth hinge part of the hinge joint are symmetrically arranged, the first arc-shaped edge and the second arc-shaped edge of the hinge joint are symmetrically arranged, and the third arc-shaped edge and the fourth arc-shaped edge of the hinge joint are symmetrically arranged;

the first hinge part and the second hinge part on the left side of the first hinge joint are respectively connected with the first hinge part and the second hinge part at the head end of the hinge joint, the first hinge part and the second hinge part on the left side of the second hinge joint are connected with the third hinge part and the fourth hinge part on the right side of the first hinge joint, and the first hinge part and the second hinge part on the left side of the third hinge joint are connected with the third hinge part and the fourth hinge part on the right side of the second hinge joint; the first driving wire, the second driving wire, the third driving wire, the fourth driving wire, the first elastic wire, the second elastic wire, the third elastic wire and the fourth elastic wire respectively penetrate through the eight through holes of the first hinge joint, the eight through holes of the second hinge joint and the eight through holes of the third hinge joint;

the hinge joint tail end is provided with a first hinge part, a second hinge part, a central through hole, a first arc-shaped edge, a second arc-shaped edge and eight through holes, the first hinge part and the second hinge part of the hinge joint tail end are symmetrically arranged, the first arc-shaped edge and the second arc-shaped edge of the hinge joint tail end are symmetrically arranged, and the eight through holes of the hinge joint tail end are uniformly distributed along the circumferential direction; the third hinge part and the fourth hinge part on the right side of the third hinge joint are respectively connected with the first hinge part and the second hinge part at the tail end of the hinge joint; the first driving wire, the second driving wire, the third driving wire, the fourth driving wire, the first elastic wire, the second elastic wire, the third elastic wire and the fourth elastic wire penetrate through the eight through holes at the tail end of the hinge joint;

the rear ends of the first driving wire, the second driving wire, the third driving wire and the fourth driving wire are connected with a driving mechanism in the instrument box, and the rear ends of the first elastic wire, the second elastic wire, the third elastic wire and the fourth elastic wire are connected with the driving mechanism in the instrument box;

the ball joint assembly is connected between the end joint and the tail end of the hinge joint, and the ball joint assembly penetrates through the three hinge joints.

Preferably, the first elastic wire, the second elastic wire, the third elastic wire and the fourth elastic wire are nitinol wires.

The utility model has the advantages of high flexibility, convenient operation, realization of multi-directional deflection and reduction of labor intensity of doctors; high reliability and strong practicability. The four elastic wires are arranged to keep the shape of the link, so that the flexibility of the tail end is greatly improved.

Further features of the invention will be apparent from the description of the embodiments which follows.

Drawings

FIG. 1 is a schematic view of a minimally invasive surgical instrument according to the present invention;

FIG. 2 is an enlarged view of a portion of the structure shown in FIG. 1 at A;

FIG. 3 is a schematic diagram of the structure of an execution end;

FIG. 4 is a schematic view of the layout of the drive and spring wires in the instrument;

FIG. 5 is a perspective view of the head end of the hinge joint;

FIG. 6 is a front view of the head end of the hinge joint;

FIG. 7 is a left side view of the head end of the hinge joint;

FIG. 8 is a top view of the head end of the hinge joint;

FIG. 9 is a bottom view of the head end of the hinge joint;

FIG. 10 is a perspective view of a hinge joint;

FIG. 11 is a front view of the hinge joint;

FIG. 12 is a left side view of the hinge joint;

FIG. 13 is a top view of a hinge joint;

FIG. 14 is a bottom view of the hinge joint;

FIG. 15 is a perspective view of a hinge joint;

FIG. 16 is a perspective view of the hinge joint tail end;

FIG. 17 is a front view of the hinge joint tail end;

FIG. 18 is a left side view of the hinge joint tail end;

FIG. 19 is a top view of the hinge joint tail end;

FIG. 20 is a bottom view of the tail end of the hinge joint;

FIG. 21 is a perspective view of the tail end of the hinge joint;

FIG. 22 is a schematic view of the construction of the opening and closing wire through the plurality of hinge joints and ball hinge assemblies;

fig. 23 is a schematic structural view of the ball hinge assembly.

The symbols in the drawings illustrate that:

1. the device comprises a device box, 2, a device rod, 3, an execution tail end, 3-1, a first opening and closing clamp leaf, 3-2, a second opening and closing clamp leaf, 3-3, a clamp shaft, 3-4, an end joint, 3-5, a pulling seat pin, 3-6, a connecting pin, 3-7, a hinge joint head end, 3-8, a hinge joint, 3-9, a hinge connecting shaft, 3-10, a hinge joint tail end, 3-11, a hinge shaft, 3-12, a hinge shaft, 3-13, a front connecting block, 3-14, a rear connecting block, 3-15, a front connecting rod, 3-16, a rear connecting rod, 3-17, a middle connecting rod, 3-18, a ball, 3-19, a ball, 3-20 and a ball 3-21; 4. the driving device comprises a first driving wire, 5 second driving wires, 6 third driving wires, 7 fourth driving wires, 8 first elastic wires, 9 second elastic wires, 10 third elastic wires, 11 fourth elastic wires, 12 opening and closing steel wires and 13 springs.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description of the preferred embodiments with reference to the accompanying drawings.

As shown in fig. 1-3, the minimally invasive surgical instrument comprises an instrument box 1, an instrument rod 2 and an execution tail end 3, wherein the instrument rod 2 is connected with the instrument box 1, and the execution tail end 3 is connected with the instrument rod 2. The execution tail end 3 comprises an opening and closing assembly capable of realizing opening and closing movement of an instrument, the opening and closing assembly comprises a first opening and closing clamp leaf 3-1 and a second opening and closing clamp leaf 3-2, the first opening and closing clamp leaf 3-1, the second opening and closing clamp leaf 3-2 and an end connector 3-4 are connected together through a clamp shaft 3-3, a pull seat pin 3-5 is connected with the opening and closing assembly, and the first opening and closing clamp leaf 3-1 and the second opening and closing clamp leaf 3-2 are enabled to do opening and closing movement around the clamp shaft 3-3 through reciprocating movement of the pull seat pin 3-5, so that the opening and closing movement of the two opening and closing clamp leaves is realized. The opening and closing assembly is a well-known structure in the prior art, and the installation mode of the pull seat pins 3-5 and the opening and closing assembly adopts the structure in the prior art and is not described in detail. The end joints 3-4 and the hinge joint head ends 3-7 are fixedly connected, the hinge joint tail ends 3-10 are fixedly arranged on the instrument rod 2, a plurality of hinge joints 3-8 are connected in series in a crisscross arrangement through hinge connecting shafts 3-9 (the number of the hinge joints 3-8 is three in the figure), the first hinge joint in the plurality of hinge joints 3-8 is connected with the hinge joint head ends 3-7 through hinge shafts 3-11, and the last hinge joint in the plurality of hinge joints 3-8 is connected with the hinge joint tail ends 3-10 through hinge shafts 3-12. The instrument box 1 is of a construction known in the art and will not be described in further detail.

Each hinge joint 3-8 can be deflected by 25 deg., the greater the number of hinge joints 3-8, the greater the angle of deflection and the more flexible the movement. As shown in fig. 4, the chain structure is provided with a first driving wire 4, a second driving wire 5, a third driving wire 6, a fourth driving wire 7, a first elastic wire 8, a second elastic wire 9, a third elastic wire 10 and a fourth elastic wire 11 which are uniformly distributed along the circumferential direction. The first driving wire 4, the second driving wire 5, the third driving wire 6 and the fourth driving wire 7 sequentially penetrate through the instrument rod 2, the hinge joint tail end 3-10 and the plurality of hinge joints 3-8, and the first elastic wire 8, the second elastic wire 9, the third elastic wire 10 and the fourth elastic wire 11 sequentially penetrate through the instrument rod 2, the hinge joint tail end 3-10 and the plurality of hinge joints 3-8; the front ends of the first driving wire 4, the second driving wire 5, the third driving wire 6 and the fourth driving wire 7 are fixedly connected with the head ends 3-7 of the hinge joints, and the rear ends of the first driving wire 4, the second driving wire 5, the third driving wire 6 and the fourth driving wire 7 are connected with a driving mechanism in the instrument box 1; the front ends of the first elastic wire 8, the second elastic wire 9, the third elastic wire 10 and the fourth elastic wire 11 are fixedly connected with the head ends 3-7 of the hinge joints, and the rear ends of the first elastic wire 8, the second elastic wire 9, the third elastic wire 10 and the fourth elastic wire 11 are connected with a driving mechanism in the instrument box 1. The first elastic wire 8 is located between the first driving wire 4 and the second driving wire 5, the second elastic wire 9 is located between the second driving wire 5 and the third driving wire 6, the third elastic wire 10 is located between the third driving wire 6 and the fourth driving wire 7, and the fourth elastic wire 11 is located between the fourth driving wire 7 and the first driving wire 4. During the use, through the actuating mechanism pulling first drive silk 4 in the apparatus box 1, second drive silk 5, third drive silk 6, fourth drive silk 7 can make the motion that carries out terminal 3 and carry out on the two vertical positions of beat and every single move, set up the moulding that four elastic wires can keep linking (if only four drive silk, can make the link produce the deformation during the pulling), compare with the terminal execution unit of current like product, greatly improved terminal flexibility. The first elastic wire 8, the second elastic wire 9, the third elastic wire 10 and the fourth elastic wire 11 have certain elasticity, and specifically, nickel-titanium alloy wires can be adopted.

As shown in the figure 5-9, the head end 3-7 of the hinge joint is provided with a first hinge part 3-7-1, a second hinge part 3-7-2, a first arc-shaped edge 3-7-3, a second arc-shaped edge 3-7-4, a central through hole 3-7-5, a first driving wire connecting hole 3-7-6, a second driving wire connecting hole 3-7-7, a third driving wire connecting hole 3-7-8, a fourth driving wire connecting hole 3-7-9, a first elastic wire connecting hole 3-7-10, a second elastic wire connecting hole 3-7-11, a third elastic wire connecting hole 3-7-12 and a fourth elastic wire connecting hole 3-7-13, the first hinge part 3-7-1 is provided with a hole, the second hinge part 3-7-2 is provided with a hole, and the first hinge part 3-7-1 and the second hinge part 3-7-2 are symmetrically arranged; the first arc-shaped edge 3-7-3 and the second arc-shaped edge 3-7-4 are symmetrically arranged; the first driving wire connecting hole 3-7-6, the second driving wire connecting hole 3-7-7, the third driving wire connecting hole 3-7-8, the fourth driving wire connecting hole 3-7-9, the first elastic wire connecting hole 3-7-10, the second elastic wire connecting hole 3-7-11, the third elastic wire connecting hole 3-7-12 and the fourth elastic wire connecting hole 3-7-13 are uniformly distributed along the circumferential direction, the first elastic wire connecting hole 3-7-10 is positioned between the first driving wire connecting hole 3-7-6 and the second driving wire connecting hole 3-7-7, the second elastic wire connecting hole 3-7-11 is positioned between the second driving wire connecting hole 3-7-7 and the third driving wire connecting hole 3-7-8, the third elastic wire connecting hole 3-7-12 is located between the third driving wire connecting hole 3-7-8 and the fourth driving wire connecting hole 3-7-9, and the fourth elastic wire connecting hole 3-7-13 is located between the fourth driving wire connecting hole 3-7-9 and the first driving wire connecting hole 3-7-6. The head end 3-7 of the hinge joint is fixedly connected with the end joint 3-4.

The front end of the first driving wire 4 is fixedly connected with the first driving wire connecting holes 3-7-6, the front end of the second driving wire 5 is fixedly connected with the second driving wire connecting holes 3-7-7, the front end of the third driving wire 6 is fixedly connected with the third driving wire connecting holes 3-7-8, and the front end of the fourth driving wire 7 is fixedly connected with the fourth driving wire connecting holes 3-7-9. The front end of the first elastic wire 8 is fixedly connected with the first elastic wire connecting holes 3-7-10, the front end of the second elastic wire 9 is fixedly connected with the second elastic wire connecting holes 3-7-11, the front end of the third elastic wire 10 is fixedly connected with the third elastic wire connecting holes 3-7-12, and the front end of the fourth elastic wire 11 is fixedly connected with the fourth elastic wire connecting holes 3-7-13.

As shown in fig. 10-15, the hinge joint 3-8 is provided with a first hinge portion 3-8-1, a second hinge portion 3-8-2, a third hinge portion 3-8-3, a fourth hinge portion 3-8-4, a first arc-shaped edge 3-8-5, a second arc-shaped edge 3-8-6, a third arc-shaped edge 3-8-7, a fourth arc-shaped edge 3-8-8, a central through hole 3-8-10 and eight through holes 3-8-9, wherein the eight through holes 3-8-9 are uniformly distributed along the circumferential direction, the first hinge portion 3-8-1 and the second hinge portion 3-8-2 are symmetrically arranged, the third hinge portion 3-8-3 and the fourth hinge portion 3-8-4 are symmetrically arranged, the first hinge portion 3-8-1 and the second hinge portion 3-8-2 are located on the left side, the third hinge portion 3-8-3 and the fourth hinge portion 3-8-4 are located on the right side, the first arc-shaped edge 3-8-5 and the second arc-shaped edge 3-8-6 are symmetrically arranged, and the third arc-shaped edge 3-8-7 and the fourth arc-shaped edge 3-8-8 are symmetrically arranged. The eight through holes 3-8-9 are used for passing through the first driving wire 4, the second driving wire 5, the third driving wire 6, the fourth driving wire 7, the first elastic wire 8, the second elastic wire 9, the third elastic wire 10 and the fourth elastic wire 11.

Referring to fig. 3, hinge axis 3-11 passes through a hole in first hinge portion 3-7-1 and a hole in first hinge portion 3-8-1 to effect articulation, and a hole in second hinge portion 3-7-2 and a hole in second hinge portion 3-8-2 also pass through with a hinge axis to effect articulation, i.e., the two hinge portions on the left side of the first hinge joint are connected to the two hinge portions at the head end 3-7 of the hinge joint. The two hinge parts on the left side of the second hinge joint are connected with the two hinge parts on the right side of the first hinge joint, and the two hinge parts on the left side of the third hinge joint are connected with the two hinge parts on the right side of the second hinge joint. The first driving wire 4, the second driving wire 5, the third driving wire 6, the fourth driving wire 7, the first elastic wire 8, the second elastic wire 9, the third elastic wire 10 and the fourth elastic wire 11 respectively penetrate through the eight through holes of the first hinge joint, the eight through holes of the second hinge joint and the eight through holes of the third hinge joint.

As shown in the figures 16-21, the hinge joint tail end 3-10 is provided with a first hinge part 3-10-1, a second hinge part 3-10-2, a central through hole 3-10-3, a first arc-shaped edge 3-10-4, a second arc-shaped edge 3-10-5 and eight through holes 3-10-6, wherein the first hinge part 3-10-1 and the second hinge part 3-10-2 are symmetrically arranged, the first arc-shaped edge 3-10-4 and the second arc-shaped edge 3-10-5 are symmetrically arranged, and the eight through holes 3-10-6 are uniformly distributed along the circumferential direction. The two hinge parts at the right side of the third hinge joint are connected with the first hinge part 3-10-1 and the second hinge part 3-10-2 through hinge shafts. The first driving wire 4, the second driving wire 5, the third driving wire 6, the fourth driving wire 7, the first elastic wire 8, the second elastic wire 9, the third elastic wire 10 and the fourth elastic wire 11 penetrate through the eight through holes 3-10-6.

As shown in FIGS. 22 and 23, the opening and closing steel wire 12 passes through the central through hole 3-10-3 of the hinge joint tail end 3-10, the central through hole 3-8-10 of the hinge joint 3-8, and the central through hole 3-7-5 of the hinge joint head end 3-7. The front end of the opening and closing steel wire 12 is connected with the pull seat pins 3-5, and the rear end of the opening and closing steel wire 12 passes through the instrument rod 2 and then is connected with the driving mechanism in the instrument box 1. The spring 13 is sleeved on the opening and closing steel wire 12, the rear end of the spring 13 is in contact with the front connecting block 3-13 of the spherical hinge assembly, and the front end of the spring 13 is in matched connection with the T-shaped end face of the pull seat pin 3-5, as shown in fig. 3. The spherical hinge component comprises a front connecting block 3-13, a rear connecting block 3-14, a front connecting rod 3-15, a rear connecting rod 3-16, a middle connecting rod 3-17, a ball 3-18, a ball 3-19, a ball 3-20 and a ball 3-21, the ball 3-18 is fixedly connected with the front connecting block 3-13, the ball 3-19 is fixedly connected with the rear connecting block 3-14, one end of the front connecting rod 3-15 is connected with the ball 3-18, the other end of the front connecting rod 3-15 is fixedly connected with the ball 3-20, one end of the middle connecting rod 3-17 is connected with the ball 3-20, the other end of the middle connecting rod 3-17 is connected with the ball 3-21, the ball 3-21 is fixedly connected with one end of the rear connecting rod 3-16, and the other end of the rear connecting rod 3-16 is connected with the ball 3-19. When the swing type connecting rod mechanism is used, the number of the front connecting rods 3-15, the number of the rear connecting rods 3-16 and the number of the middle connecting rods 3-17 can be increased or decreased according to needs, and the larger the number of the balls and the connecting rods connected in series, the larger the deflection angle of the balls and the higher the flexibility. The periphery of the rear connecting block 3-14 is rotatably connected with a central through hole 3-10-3 of the hinge joint tail end 3-10, the middle part of the rear connecting block 3-14 is connected with a driving mechanism in the instrument box 1 through a steel wire, the rear connecting block 3-14 can independently rotate under the action of the driving mechanism, and when the rear connecting block 3-14 rotates, the motion is transmitted to the end joint 3-4, so that the tail end can generate self-rotation motion. The front connecting block 3-13 is provided with a mounting hole 3-13-1, and the connecting pin 3-6 penetrates through the end connector 3-4 and then is inserted into the mounting hole 3-13-1 to realize the fixed connection of the front connecting block 3-13 and the end connector 3-4. The front connecting block 3-13, the rear connecting block 3-14, the front connecting rod 3-15, the rear connecting rod 3-16, the middle connecting rod 3-17, the ball 3-18, the ball 3-19, the ball 3-20 and the ball 3-21 are respectively provided with a central through hole, and the opening and closing steel wire 12 sequentially penetrates through the central through holes in the front connecting block 3-13, the rear connecting block 3-14, the front connecting rod 3-15, the rear connecting rod 3-16, the middle connecting rod 3-17, the ball 3-18, the ball 3-19, the ball 3-20 and the ball 3-21.

The spherical hinge assembly is located in a space surrounded by the first driving wire 4, the second driving wire 5, the third driving wire 6, the fourth driving wire 7, the first elastic wire 8, the second elastic wire 9, the third elastic wire 10 and the fourth elastic wire 11. The front connecting rod 3-15, the rear connecting rod 3-16, the middle connecting rod 3-17, the ball 3-18, the ball 3-19, the ball 3-20, the ball 3-21 and the ball 3-18 pass through the central through hole of the plurality of hinge joints 3-8.

The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if those skilled in the art should understand it, without departing from the spirit of the present invention, they should also understand that other configurations of the components, driving devices and connecting means can be adopted without inventive design and structural modes and embodiments similar to the technical solution.

Claims (2)

1. A minimally invasive surgical instrument comprises an instrument box, an instrument rod and an execution tail end, wherein the instrument rod is connected with the instrument box, and the execution tail end is connected with the instrument rod, and is characterized in that the execution tail end comprises an end joint, a hinge joint head end, a hinge joint tail end, a first driving wire, a second driving wire, a third driving wire, a fourth driving wire, a first elastic wire, a second elastic wire, a third elastic wire, a fourth elastic wire, a ball hinge assembly and three hinge joints, the end joint is fixedly connected with the hinge joint head end, the hinge joint tail end is fixedly connected with the instrument rod, the first driving wire, the second driving wire, the third driving wire, the fourth driving wire, the first elastic wire, the second elastic wire, the third elastic wire and the fourth elastic wire are uniformly distributed along the circumferential direction, the first elastic wire is positioned between the first driving wire and the second driving wire, the second elastic wire is positioned between the second driving wire and the third driving wire, the third elastic wire is positioned between the third driving wire and the fourth driving wire, and the fourth elastic wire is positioned between the fourth driving wire and the first driving wire;

the first end of the hinge joint is provided with a first hinge part, a second hinge part, a first arc-shaped edge, a second arc-shaped edge, a central through hole, a first driving wire connecting hole, a second driving wire connecting hole, a third driving wire connecting hole, a fourth driving wire connecting hole, a first elastic wire connecting hole, a second elastic wire connecting hole, a third elastic wire connecting hole and a fourth elastic wire connecting hole, the first hinge part and the second hinge part are symmetrically arranged, and the first arc-shaped edge and the second arc-shaped edge are symmetrically arranged; the first elastic wire connecting hole is positioned between the first driving wire connecting hole and the second driving wire connecting hole, the second elastic wire connecting hole is positioned between the second driving wire connecting hole and the third driving wire connecting hole, the third elastic wire connecting hole is positioned between the third driving wire connecting hole and the fourth driving wire connecting hole, and the fourth elastic wire connecting hole is positioned between the fourth driving wire connecting hole and the first driving wire connecting hole;

the front end of the first driving wire is fixedly connected with the first driving wire connecting hole, the front end of the second driving wire is fixedly connected with the second driving wire connecting hole, the front end of the third driving wire is fixedly connected with the third driving wire connecting hole, and the front end of the fourth driving wire is fixedly connected with the fourth driving wire connecting hole; the front end of the first elastic wire is fixedly connected with the first elastic wire connecting hole, the front end of the second elastic wire is fixedly connected with the second elastic wire connecting hole, the front end of the third elastic wire is fixedly connected with the third elastic wire connecting hole, and the front end of the fourth elastic wire is fixedly connected with the fourth elastic wire connecting hole;

the left side of the hinge joint is provided with a first hinge part, a second hinge part, a first arc-shaped edge and a second arc-shaped edge, the right side of the hinge joint is provided with a third hinge part, a fourth hinge part, a third arc-shaped edge and a fourth arc-shaped edge, the hinge joint is provided with a central through hole and eight through holes, the eight through holes are uniformly distributed along the circumferential direction, the first hinge part and the second hinge part of the hinge joint are symmetrically arranged, the third hinge part and the fourth hinge part of the hinge joint are symmetrically arranged, the first arc-shaped edge and the second arc-shaped edge of the hinge joint are symmetrically arranged, and the third arc-shaped edge and the fourth arc-shaped edge of the hinge joint are symmetrically arranged;

the first hinge part and the second hinge part on the left side of the first hinge joint are respectively connected with the first hinge part and the second hinge part at the head end of the hinge joint, the first hinge part and the second hinge part on the left side of the second hinge joint are connected with the third hinge part and the fourth hinge part on the right side of the first hinge joint, and the first hinge part and the second hinge part on the left side of the third hinge joint are connected with the third hinge part and the fourth hinge part on the right side of the second hinge joint; the first driving wire, the second driving wire, the third driving wire, the fourth driving wire, the first elastic wire, the second elastic wire, the third elastic wire and the fourth elastic wire respectively penetrate through the eight through holes of the first hinge joint, the eight through holes of the second hinge joint and the eight through holes of the third hinge joint;

the hinge joint comprises a hinge joint tail end and a hinge joint tail end, wherein the hinge joint tail end is provided with a first hinge part, a second hinge part, a central through hole, a first arc-shaped edge, a second arc-shaped edge and eight through holes; the third hinge part and the fourth hinge part on the right side of the third hinge joint are respectively connected with the first hinge part and the second hinge part at the tail end of the hinge joint; the first driving wire, the second driving wire, the third driving wire, the fourth driving wire, the first elastic wire, the second elastic wire, the third elastic wire and the fourth elastic wire penetrate through the eight through holes at the tail end of the hinge joint;

the rear ends of the first driving wire, the second driving wire, the third driving wire and the fourth driving wire are connected with a driving mechanism in the instrument box, and the rear ends of the first elastic wire, the second elastic wire, the third elastic wire and the fourth elastic wire are connected with the driving mechanism in the instrument box;

the spherical hinge assembly is connected between the end joint and the tail end of the hinge joint and penetrates through the three hinge joints.

2. The minimally invasive surgical instrument according to claim 1, wherein the first, second, third and fourth elastic wires are nitinol wires.

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